# binary trn.data # Contains TRN input records # structured as follows: # # TRN motion update input # integer trn.recordID %d ,trn.recordID ,UNKNOWN # double trn.ptTime %14.4f ,Nav data timestamp ,epoch seconds # double trn.ptX %8.8e ,trn.ptX ,UNKNOWN # double trn.ptY %8.8e ,trn.ptY ,UNKNOWN # double trn.ptZ %8.8e ,trn.ptZ ,UNKNOWN # double trn.ptVx %8.8e ,trn.ptVx ,UNKNOWN # double trn.ptVy %8.8e ,trn.ptVy ,UNKNOWN # double trn.ptVz %8.8e ,trn.ptVz ,UNKNOWN # double trn.ptPhi %8.8e ,trn.ptPhi ,UNKNOWN # double trn.ptTheta %8.8e ,trn.ptTheta ,UNKNOWN # double trn.ptPsi %8.8e ,trn.ptPsi ,UNKNOWN # short trn.ptDvlValid %d ,trn.ptDvlValid ,UNKNOWN # short trn.ptGpsValid %d ,trn.ptGpsValid ,UNKNOWN # short trn.ptBottomLock %d ,trn.ptBottomLock ,UNKNOWN # # TRN measurement update input # integer trn.recordID %d ,trn.recordID ,UNKNOWN # double trn.mtTime %14.4f ,Measurement data timestamp ,epoch seconds # integer trn.mtDataType %d ,trn.mtDataType ,UNKNOWN # double trn.mtX %8.8e ,trn.mtX ,UNKNOWN # double trn.mtY %8.8e ,trn.mtY ,UNKNOWN # double trn.mtZ %8.8e ,trn.mtZ ,UNKNOWN # integer trn.mtPingNumber %d ,trn.mtPingNumber ,UNKNOWN # integer trn.mtNumMeas %d ,trn.mtNumMeas ,UNKNOWN # followed by an array of beam entries, e.g.: # short trn.mtBeamNum_00 %d ,trn.mtBeamNum_00 ,UNKNOWN # short trn.mtStatus_00 %d ,trn.mtStatus_00 ,UNKNOWN # double trn.mtRange_00 %8.8e ,trn.mtRange_00 ,UNKNOWN # double trn.mtCrosstrack_00 %8.8e ,trn.mtCrosstrack_00 ,UNKNOWN # double trn.mtAlongtrack_00 %8.8e ,trn.mtAlongtrack_00 ,UNKNOWN # double trn.mtAltitudes_00 %8.8e ,trn.mtAltitudes_00 ,UNKNOWN # # Record IDs are 32-bit (4 byte) printable ASCII sequences: # 'MTNI' : motion update input # 'MEAI' : measurement update input # 'MTNO' : motion update output (not implemented) # 'MEAO' : measurement update (not implemented) # Record order is not guaranteed. # begin MTNIw?AA]NA@V<""A z@Mb@Mb@Mb@ :U?`J{ƿZ@MTNI~BADNAќq""A`{@Mb@Mb@Mb@M?¿@MTNIDDA!@_Kk@6+y@@ﻨ?&7:+Z:-`.:MEAIA W@`C@TT@QX@MTNIq=ZA%ɽNA?v""A @?`-¿? ?¿ @MSEOq=ZAЗsSNAL""A^Ц1@%ɽNA?v""A @; ? ¿c @ 5cC?,> D?Y@U?hc:QB: $H ;MTNI\A0NAN""AG@Mb@Mb@Mb@` ?`?ƿ@MSEO\ArBNA""A\.|y1@0NAN""AG@d` ?`?ƿ^@ qa?S8>Vr(ca?} ?:GS:RL:nAE;MEAIlGA;X@@`ET@`dT@MTNI_AvgտNAUI+~""Au!@?Mb?`t đ?2ÿ&@MSEO_AL`NAP~n""AT+g1@vgտNAUI+~""Au!@đ?1ÿ&@DHjt? 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